WO2021197319A1 - Manipulateur de commutation de paume apte à changer de doigt rapide et comprenant un arbre flexible de base de doigt pour une transmission de rotation et une transposition excentrique - Google Patents

Manipulateur de commutation de paume apte à changer de doigt rapide et comprenant un arbre flexible de base de doigt pour une transmission de rotation et une transposition excentrique Download PDF

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Publication number
WO2021197319A1
WO2021197319A1 PCT/CN2021/083917 CN2021083917W WO2021197319A1 WO 2021197319 A1 WO2021197319 A1 WO 2021197319A1 CN 2021083917 W CN2021083917 W CN 2021083917W WO 2021197319 A1 WO2021197319 A1 WO 2021197319A1
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WO
WIPO (PCT)
Prior art keywords
finger
hole
fingers
indexing
palm
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PCT/CN2021/083917
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English (en)
Chinese (zh)
Inventor
章军
吕兵
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江南大学
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Application filed by 江南大学 filed Critical 江南大学
Publication of WO2021197319A1 publication Critical patent/WO2021197319A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated

Definitions

  • the invention relates to a quick-change finger-changing manipulator with a finger-root flexible shaft that transmits rotation and eccentrically indexed. It belongs to the field of robots and automation, and is suitable for sorting robots for food, agricultural products, and light industrial products, as well as robots in the packaging and logistics industries. .
  • the gripper also known as the manipulator, the end effector, and the end gripper, is an operating tool for the robot to grasp objects. Due to the complexity of the grasping objects: the material properties, shape, size, and position status are quite different: 1The shape is not Regular objects with large differences in size (fruits, vegetables); 2 Fragile and brittle objects (poultry eggs, glass ceramic products); 3 Soft objects that are easily deformed (bread, flexible packaging items); 4 Abnormal shape and positional state Confusing and difficult to sort out objects (wine bottles, cosmetic bottles), at the same time, in terms of the adaptability of shape and size, different sizes of cuboid, cylinder, sphere, ellipsoid, and triangular prism are the most common shapes.
  • the current end effector cannot grasp the aforementioned complex objects universally and reliably.
  • the surface of the rigid frame of the finger is glued with rubber, and the contact between the rubber outside the rigid frame of the end effector and the object is semi-flexible, and the contact force distribution is very different; or the soft finger, because there is no frame, it cannot withstand greater contact force. And the contact force distribution is not uniform.
  • the contact between the finger and the object is divided into pinch, envelope grab, and soft package grab.
  • the design of the manipulator involves three types: shape, property, and state.
  • the shape refers to the shape, size, and the adaptive design of the manipulator; the physical property refers to the hardness, toughness and brittleness of the material, and the control strategy design involves the precise control of the size and direction of the contact force; the state is the placement state of the object, such as stand, Lying, neatly or chaotically distributed, close or sparsely spaced, contacting each other, such as bagged frozen gnocchi, bagged liquid, bagged pellets and other flexible packaging, involving the path planning of finger knuckles, the position of contact force, contact impact, etc.
  • the control strategy of the motion process also involves the coordinated control of the operation of the manipulator and the manipulator arm.
  • the most commonly used in production is a two-finger clamp type, single-knuckle finger, two-point contact pneumatic jaw, but it has small size adaptability, can't envelop grabbing, and has no shape adaptability.
  • the applicant provides a quick-change finger-to-palm manipulator with a reasonable structure that transmits rotation and eccentrically indexed by the soft shaft of the finger root, which can both pinch and envelop, and also It can be wrapped and grabbed, with a wide grabbing range, suitable for vertical and horizontal grabbing of various objects with complex shapes, high indexing accuracy, fast response speed, and flexible adaptive effects.
  • a quick-change finger palm-changing manipulator capable of transmitting rotation by the soft shaft of the finger root and eccentrically indexed.
  • the palm-changing manipulator is composed of a palm and four fingers with the same structure and uniformly installed. There are four kinds of fingers, including: Rotating gripping fingers, translational gripping fingers, knuckle enveloping fingers, soft enveloping fingers;
  • the palm provides the indexing function of the finger root parts: the center distance of the four fingers is equal, and the four fingers grasp the upright cylinder, sphere, cube, or driven by the indexing motor, the left and right fingers are eccentrically indexed 45 degrees clockwise, forward and backward The fingers are eccentrically rotated counterclockwise by 45 degrees to grasp the horizontally placed cylinder and cuboid;
  • the four fingers adopt an eccentric indexing structure with the center of rotation.
  • the eccentricity of the four fingers is equal.
  • the indexing structure with the center of rotation in place is adopted.
  • the eccentric rotation Position structure grabs a much larger size range of horizontally placed cylinders and cuboids;
  • the palm provides the rotation function of the root part of the finger: the rotating driver drives the toothed belt, and the four fingers are rotated at the same root angle through the four flexible shaft parts.
  • the root angle refers to the angle between the root part and the palm plane (lower plate). ;
  • the choice of finger types and rotating drive the rotating drive that drives the root of the finger to rotate, there are two types of motor and vane-type rotating cylinder; when using non-driven rotating gripping fingers and translational gripping fingers to grasp in pinch mode, select The blade-type rotating cylinder drives the finger root to rotate, according to the feedback of the air pressure sensor, the finger contact force is controlled by a pneumatic high-speed switch valve, or the motor drives the finger root to rotate, and the contact force is controlled by controlling the output torque of the rotating motor; the pneumatic knuckle bag is adopted When connecting fingers and software wrapping fingers, only motors can be used, which has better size adaptability. According to the feedback of the air pressure sensor, the two finger contact states are controlled through the pneumatic high-speed on-off valve;
  • the palm's indexing function integrates gear transmission and linkage transmission; the palm's rotation function also introduces the transmission of flexible shaft components; the indexing and rotation of the finger roots are interrelated coupled movements, and the transmission chain
  • the structure is flexible;
  • the grasping power of the four fingers is pneumatic, and the pneumatic system has driving flexibility and agility;
  • the flexible shaft part contacts and transmits movement through the conical surface, which is convenient to adjust the phase angle and make the initial angle adjustment of the four fingers rotate equal.
  • the overall installation structure of the palm-changing manipulator is:
  • Finger root rotation structure the rotary drive is fixed under the arm mounting plate, one toothed belt gear is fixed on the output shaft of the rotary drive with a set screw, and the four toothed belt gears are each fixed in the four taper holes with a set screw.
  • At the upper end of the drive shaft there is a toothed belt gear fixed on the tensioning pulley shaft with a set screw.
  • the tensioning pulley shaft is adjusted and fixed in the waist groove on the arm mounting plate.
  • the toothed belt surrounds the six toothed belts. Gears, the toothed belt gears on the rotating drive provide driving force.
  • the toothed belt gears on the tensioning pulley shaft with adjustable position play a tensioning role.
  • the four toothed belt gears make the four cone hole drive shafts rotate; cone hole drive
  • the upper and lower ends of the shaft are each equipped with a small diamond-shaped seated bearing, and two small diamond-shaped seated bearings are fixed back to back on the arm mounting plate;
  • the tapered hole The two ends of the pin shaft rotate on the copper sleeve, and the tapered hole pin shaft is axially limited by the elastic retaining ring on the shaft.
  • the two copper sleeves are fitted in the holes of the double side wall of the square head single hole double lug seat; single hole finger root
  • the joint is sleeved in the middle section of the tapered hole pin, and driven by the flat key in the middle section of the tapered hole pin, so that the flexible shaft component drives the single-hole knuckle to rotate; the four rotating gripping fingers are respectively fixed on the four single-hole knuckles , Relying on four curved sections of rotating fingers to pinch objects;
  • Finger root indexing structure the back of the indexing motor is fixed on the arm mounting plate, the lower end of the indexing motor output shaft and the uppermost end of the long shaft are connected by a coupling and fixed with a set screw; the upper and lower ends of the long shaft are each set A large diamond-shaped seated bearing, a large diamond-shaped seated bearing is fixed under the upper plate, and another large diamond-shaped seated bearing is fixed under the lower plate.
  • the incomplete gear is in the middle of the long shaft and is driven by a flat key. There is under the incomplete gear. The sleeve restricts axial movement; the incomplete gear meshes with the two crank gears on the left and right sides.
  • the crank gear on the right, the connecting rod, and the front indexing lever form a crank-rocker mechanism.
  • the position swing lever forms a crank-rocker mechanism; one end of the connecting rod is connected with the crank gear hinge, the other end of the connecting rod is connected with the indexing swing lever hinge, and the bottom of the connecting rod at the two end hinges is clamped on the crank gear and the indexing swing lever.
  • Wear-resistant gaskets reduce friction and realize the incomplete gear rotates forward 45 degrees, then the two crank gears reverse 45 degrees, and the two index pendulum rods rotate forward 45 degrees; the crank gear and the index pendulum rod are all installed on the short shaft
  • the upper and lower sections of the four short shafts are all sleeved with large diamond-shaped seated bearings, one large diamond-shaped seated bearing is fixed under the upper plate, and the other large diamond-shaped seated bearing is fixed under the lower plate;
  • two square-headed single-hole double The square head section of the ear seat is inserted into the rectangular grooves of the two indexing swing rods at the front and rear positions, and fastened with screws and washers.
  • the square head sections of the other two square head single-hole double ear seats are inserted into the two left and right positions.
  • the rectangular grooves of a crank gear are also fastened with screws and washers; the indexing motor drives the incomplete gear and transmits it to the crank gear, and then the crank gear is transmitted to the indexing pendulum rod.
  • the two square-headed single-hole double ear seats are positive Rotate 45 degrees, and the two square head single-hole double ear seats simultaneously reverse 45 degrees, from grabbing upright cylinders and cubes, and transposition grabbing horizontally placing cylinders and cuboids.
  • the flexible shaft component is composed of an elastic flexible shaft, two knurled internal thread sleeves and two tapered pin indenters.
  • the two ends of the flexible flexible shaft are firstly covered with a knurled internal thread sleeve, and the knurled internal thread sleeve
  • the threaded sections are all at the outer end, and then two tapered pin indenters are press-fitted on both ends of the elastic soft shaft respectively.
  • the four parts of the double-hole knuckle, the follower rod, the finger joint, and the square head double-hole binaural seat constitute a parallelogram mechanism, and the rotation of the double-hole knuckle changes
  • the four knuckles gripping the fingers in translation grasp the object; replace the single-hole knuckles and square-head single-hole binaural with double-hole knuckles and square-head double-hole binaural bases respectively
  • the assembly structure of the double-hole knuckle, tapered hole pin, square-head double-hole double lug seat, flexible shaft components, and copper sleeve is the same as the aforementioned single-hole knuckle, tapered-hole pin, and square-head single-hole double
  • the assembly structure of the ear seat, the soft shaft parts and the copper sleeve is the same; the double-hole knuckles are respectively connected with the double-hole knuckles
  • the assembly structure of the knuckle enveloping the finger the side of the bent plate is installed on the single-hole knuckle, and it rotates with the single-hole knuckle; similar to the chain link structure, the lower ring-head L-shaped chain link is on the left side
  • the tip is hingedly connected with the lower heel on the left side of the upper ring head L-shaped link, and the upper tip on the left side of the upper ring head L-shaped link is hinged with the flat hinge base, and the flat hinge base is also fixed on the bend.
  • the ring head of the ring head L-shaped chain link is sleeved in the trough ring of the conical elastic bellows driver, and the conical elastic bellows driver is from top to bottom, and the corresponding different ring head L-shaped chain links are round
  • the ring head diameter is getting smaller and smaller, and the interval between the ring heads (chain pitch) is getting shorter and shorter, that is, the shorter the fingertips, the shorter the length of the knuckles;
  • the seat block is fixed on the bending plate with screws, and the rubber material
  • the conical elastic bellows driver is fixed on the corrugated bayonet of the seat block by a clamp, and the air pipe joint is also screwed on the seat block.
  • the compressed air through the air pipe joint causes the conical elastic bellows driver to bend and expand under the constraint of the chain pitch;
  • the left side of the L-shaped chain link of the torus head contacts the object to be grabbed to form an envelope grabbing.
  • the inflatable curved finger of rubber material contains a braided belt in the wall on one side of the contact surface, and the other side is a corrugated structure with a rectangular cross-section. Then fix it with a holding hoop. Tighten the hose connector on the right end of the mounting base. Use a screw to install the left end of the mounting base on the single-hole knuckle, which rotates with the single-hole knuckle; compressed air enters the inflation and bends through the hose connector.
  • the corrugated structure of the inflatable bending finger expands and is constrained by the braided belt in the contact surface wall, so it bends and deforms and contacts the object to be grasped to form a wrapped grasp.
  • the taper pin at one end of the flexible shaft component is inserted into the tapered hole of the tapered hole drive shaft.
  • the rotation angle of the four flexible shaft components By adjusting the rotation angle of the four flexible shaft components, four single-hole knuckles or double holes are ensured.
  • the initial angles of the knuckles are equal, and the knurled internal thread sleeve is tightened on the taper hole drive shaft, so that the initial angle and angular displacement of the four flexible shaft components rotating in the same direction are equal by rotating the driver.
  • the quick-change finger-to-palm manipulator capable of transferring rotation and eccentric indexing of the finger root of the present invention has reasonable structure design, convenient control, and strong applicability. It can be pinched, enveloped, and wrapped, It has a wide range of grasping, suitable for vertical and horizontal grasping of various objects with complex shapes, high indexing accuracy, fast response speed, and flexible self-adaptive effect.
  • the palm of the present invention can provide the indexing and rotating functions of the finger root components at the same time: the center distance of the four fingers is equal, the four fingers grasp the upright cylinder, the sphere, the cube, or the left and right fingers are eccentrically rotated clockwise under the drive of the indexing motor Position, front and rear fingers are eccentrically rotated counterclockwise to grasp horizontally placed cylinders and cuboids; the rotating driver drives the toothed belt, and the four fingers are rotated at the same root angle through four flexible shafts;
  • the indexing function of the palm integrates gear transmission and connecting rod transmission; the rotation function of the palm also introduces flexible shaft transmission; the indexing and rotation of the finger root components are interrelated coupled motions, and the transmission chain structure is flexible ;
  • the flexible shaft contacts and transmits the movement through the conical surface of the conical pin indenter, which is convenient to adjust the phase angle and make the initial angle adjustment of the four finger rotations equal;
  • the four fingers of the present invention adopt an eccentric indexing structure with the center of rotation.
  • the eccentric distances of the four fingers are equal.
  • the indexing structure with the center of rotation at the same place is adopted.
  • the eccentric indexing structure grabs a much larger size range of horizontally placed cylinders and cuboids;
  • the invention provides four types of fingers and two types of rotary actuators, which can be combined and applied according to actual needs, can determine the best motor output torque control contact force, and has better size adaptability;
  • the grasping power of the four fingers of the present invention is pneumatic, and the pneumatic system has driving flexibility and agility.
  • Fig. 1 is a front view of the A-A rotation section of the present invention.
  • Figure 2 is a top view of the present invention.
  • Figure 3 is a B-B sectional top view of the present invention.
  • Fig. 4 is a 45-degree eccentric transposition diagram of the finger root of the B-B sectional top view of the present invention
  • Figure 5 is a bottom view of the present invention.
  • Fig. 6 is a bottom view of the C-C cross-sectional view of the present invention.
  • Fig. 7 is a partial cross-sectional view of D-D of the present invention.
  • Figure 8 is a schematic diagram of the eccentric indexing of the present invention.
  • Figure 9 is a schematic diagram of in-situ indexing of the same finger installation position.
  • Fig. 10 is an E-E sectional view of the translational clamping finger part of the present invention.
  • Fig. 11 is an F-F cross-sectional front view of the translational gripping finger member of the present invention.
  • Fig. 12 is a top view of the translational gripping finger member of the present invention.
  • Fig. 13 is a front cross-sectional view of the knuckle-enveloped finger component of the present invention.
  • Fig. 14 is a front view of the flat hinge seat part of the knuckle enveloping finger component of the present invention.
  • Figure 15 is a right side view of the flat hinge seat part of the knuckle enveloping finger component of the present invention.
  • Fig. 16 is a G-G sectional left view of the L-shaped chain link part of the ring head of the knuckle enveloping finger component of the present invention.
  • Fig. 17 is an H-H main cross-sectional view of the L-shaped chain link part of the ring head of the knuckle-enveloping finger component of the present invention.
  • Fig. 18 is a partial view of the L-shaped chain link part of the ring head of the knuckle enveloping finger component of the present invention.
  • Figure 19 is a main cross-sectional view of the soft-wrapped finger component of the present invention.
  • Fig. 20 is a J-J sectional top view of the soft-wrapped finger component of the present invention.
  • Figure 21 is a structural diagram of the flexible shaft component of the present invention.
  • Fig. 22 is a front view of the crank gear part of the present invention.
  • Figure 23 is a front view of the incomplete gear part of the present invention.
  • Figure 24 is a front view of the tapered hole drive shaft component of the present invention.
  • Fig. 25 is a front view of the long shaft part of the present invention.
  • Fig. 26 is a top view of the long axis part of the present invention.
  • Figure 27 is a front view of the indexing swing lever part of the present invention.
  • Indexing Motor 13, coupling; 14, upper plate; 15, large diamond-shaped bearing with seat; 16, short shaft; 17, sleeve; 18, rotating swing rod; 19, connecting rod; 20, wear-resistant gasket; 21 , Partial gear; 22, long shaft; 23, lower plate; 24, small double-head matching stud; 25, crank gear; 26, toothed belt; 27, tension pulley shaft; 28, copper sleeve;
  • 6a flexible shaft
  • 6b knurled internal thread sleeve
  • 6c taper pin indenter
  • 1a clamping fingers in translation
  • 2a double-hole knuckles
  • 4a square-head double-hole binaural base
  • 1a1 finger knuckles
  • 1a2 follow-up swing rod
  • 1b Knuckles enveloping the fingers; 1b1, conical elastic bellows driver; 1b2, circular ring head L-shaped chain link; 1b3, flat hinge seat; 1b4, bent plate; 1b5, clamp; 1b6, seat block; 1b7 , Trachea joints;
  • a quick-change finger palm-changing manipulator capable of transmitting rotation and eccentrically indexed by the soft shaft of the finger root is composed of a palm and four fingers 1 with the same structure and uniformly installed.
  • the parts of the palm-changing manipulator include: rotating clamp Finger holding 1, single hole knuckle 2, tapered hole pin 3, square head single hole double lug seat 4, large double-headed mating stud 5, flexible shaft component 6, tapered hole drive shaft 7, small diamond seat bearing 8.
  • Robotic arm mounting plate 9 toothed belt gear 10, rotating drive 11, indexing motor 12, coupling 13, upper plate 14, large diamond seat bearing 15, short shaft 16, sleeve 17, indexing pendulum Rod 18, connecting rod 19, wear-resistant washer 20, incomplete gear 21, long shaft 22, lower plate 23, small double-headed mating stud 24, crank gear 25, toothed belt 26, tension belt wheel shaft 27, copper Set of 28.
  • the fingers can be selected and assembled in four ways, namely: rotating gripping fingers 1, or translational gripping fingers 1a, or knuckle-enclosed fingers 1b, or soft-wrapped fingers 1c; the four fingers must be equipped with the same kind of fingers ;
  • the rotary driver 11 has two options and assembly, namely: rotating motor 11a, or blade-type rotating cylinder 11b; rotating gripping finger 1 and translational gripping finger 1a, rotating drive 11 selects a rotating motor 11a or blade-type rotation
  • the rotary drive 11 can only be a rotary motor 11a.
  • the flexible shaft part 6 includes: an elastic flexible shaft part 6a, a knurled internal thread sleeve 6b, and a tapered pin indenter 6c;
  • the translational clamping fingers 1a include: a double-hole knuckle 2a, a square-head double-hole double ear seat 4a, a finger joint 1a1, and a follower swing rod 1a2.
  • the knuckle enveloping finger 1b includes: a cone-shaped elastic bellows driver 1b1, a circular ring-head L-shaped link 1b2, a flat hinge seat 1b3, a bent plate 1b4, a clamp 1b5, a seat block 1b6, and a tracheal joint 1b7;
  • the soft-wrapped fingers 1c include: an inflatable bending finger 1c1, a braided belt 1c2, a mounting seat 1c3, a holding band 1c4, and a hose connector 1c5.
  • the palm-changing manipulator is composed of a palm and four fingers with the same structure and uniformly installed; there are four kinds of fingers, including: rotating gripping fingers 1, translational gripping fingers 1a, knuckle enveloping fingers 1b, and software Wrap fingers 1c;
  • the palm provides the indexing function of the finger root parts: the center distance of the four fingers is equal, and the four fingers grasp the upright cylinder, sphere, cube, or driven by the indexing motor 12, the left and right fingers are eccentrically rotated clockwise by 45 degrees, The front and back fingers are eccentrically rotated counterclockwise by 45 degrees to grasp the horizontally placed cylinder and cuboid;
  • the four fingers adopt an eccentric indexing structure with the center of rotation.
  • the eccentricity of the four fingers is equal.
  • the indexing structure with the center of rotation in place is adopted.
  • the eccentric rotation Position structure grabs a much larger size range of horizontally placed cylinders and cuboids;
  • the palm provides the function of rotating the finger root part: the rotating driver 11 drives the toothed belt 26, and the four fingers are rotated at the same root angle through the four flexible shaft parts 6.
  • the finger root angle refers to the root part (single-hole knuckle 2 Or the angle between the two-hole phalanx 2a) and the palm plane (lower plate 23);
  • the choice of finger types and rotation driver 11 The rotation driver 11 that drives the root of the finger to rotate has two types: a rotating motor 11a and a blade-type rotating cylinder 11b; using a non-driven rotating gripping finger 1, a translational gripping finger 1a to pinch When grabbing, the blade-type rotating cylinder 11b is used to drive the finger root to rotate. According to the feedback of the air pressure sensor, the finger contact force is controlled by a pneumatic high-speed switch valve, or the rotating motor 11a is used to drive the finger root to rotate, and the rotating motor 11a outputs torque.
  • the palm indexing function integrates gear transmission and connecting rod transmission; the palm rotation function also introduces the flexible shaft part 6 transmission; the indexing and rotation of the finger root part are interrelated coupled motions.
  • the transmission chain structure is flexible;
  • the grasping power of the four fingers is pneumatic, and the pneumatic system has driving flexibility and agility;
  • the flexible shaft part 6 contacts and transmits the movement through the conical surface of the conical pin indenter 6c, which is convenient to adjust the phase angle and make the initial angle adjustment of the four finger rotations equal.
  • Integral installation structure After positioning through the counterbore on the mounting plate 9 of the robot arm and the outer ring of the positioning ring of the robot arm, fix the palm-changing manipulator to the robot arm with screws.
  • the robot arm mounting plate 9 and the upper plate 14 are in clearance fit and are fastened by nuts.
  • the robot arm mounting plate 9 and the upper plate 14 are connected as a whole by two large double-headed studs 5; similarly, two small double-headed studs are used.
  • the stud 24 connects the upper plate 14 and the lower plate 23 into a whole;
  • Finger root rotation structure the rotating driver 11 is fixed under the arm mounting plate 9, a toothed belt gear 10 is fixed on the output shaft of the rotating driver 11 with a set screw, and the four toothed belt gears 10 are each fixed with a set screw At the upper end of the four tapered drive shafts 7, there is a toothed belt gear 10 fixed on the tension pulley shaft 27 with a set screw, and the tension pulley shaft 27 is adjusted and fixed in the waist groove on the mechanical arm mounting plate 9.
  • the toothed belt 26 surrounds these six toothed belt gears 10, the toothed belt gear 10 on the rotating drive 11 provides driving force, and the toothed belt gear 10 on the tensioning pulley shaft 27 with adjustable position plays a tensioning role.
  • the toothed belt gear 10 rotates the four tapered drive shafts 7; the upper and lower ends of the tapered drive shaft 7 are each equipped with a small diamond-shaped seated bearing 8, two small diamond-shaped seated bearings 8 are fixed back to back on the arm mounting plate 9 On; as shown in the upper right corner of Figure 1, the tapered pin indenter 6c at one end of the flexible shaft part 6 is inserted into the tapered hole of the tapered hole drive shaft 7, and then screwed on the tapered hole drive shaft with a knurled female thread sleeve 6b 7, so that the drive 11 is rotated to make the four flexible shaft components 6 rotate in the same direction; as shown on the right side of Figure 2, the tapered pin indenter 6c at the other end of the flexible shaft component 6 is inserted into the square head single hole on the same side In the taper hole of the taper hole pin 3 on the double lug seat 4, screw the taper hole pin 3 with a knurled female thread sleeve 6b.
  • the two ends of the taper hole pin 3 rotate on the copper sleeve 28, and the taper hole pin
  • the shaft 3 is axially limited by an elastic retaining ring (blacked part) on the shaft, and two copper sleeves 28 are assembled in the holes of the double side wall of the square head single-hole double ear seat 4; the single-hole knuckle 2 is sleeved in The middle section of the tapered hole pin 3 is driven by the flat key in the middle section of the tapered hole pin 3, so that the flexible shaft part 6 drives the single-hole knuckle 2 to rotate; the four rotating gripping fingers 1 are respectively fixed on the four single-hole finger roots Section 2, Relying on four curved sections of rotating gripping fingers 1 to pinch objects;
  • Finger root indexing structure the back of the indexing motor 12 is fixed on the arm mounting plate 9, the lower end of the output shaft of the indexing motor 12 and the uppermost end of the long shaft 22 are connected by a coupling 13 and fixed with a set screw; the long shaft 22 The upper and lower ends of each set are equipped with a large diamond-shaped seated bearing 15, a large diamond-shaped seated bearing 15 is fixed under the upper plate 14, another large diamond-shaped seated bearing 15 is fixed under the lower plate 23, and the incomplete gear 21 is on the long shaft 22
  • the middle section is driven by a flat key, and there is a sleeve 17 under the incomplete gear 21 to limit the axial movement; as shown in Figure 3, the incomplete gear 21 meshes with the two left and right crank gears 25, and the right crank gear 25, connecting
  • the rod (19), the front indexing swing rod 18 form a crank-rocker mechanism, and the left crank gear 25, the connecting rod (19), and the rear indexing swing rod 18 form a crank-rocker mechanism; as shown in Figures 2 and 7 As shown
  • a wear-resistant washer 20 is clamped to reduce friction, so that the incomplete gear 21 rotates forward 45 degrees, then the two crank gears 25 reverse 45 degrees, and the two index pendulum rods 18 rotate forward 45 degrees; cranks
  • the gear 25 and the indexing lever 18 are all installed in the middle section of the stub shaft 16.
  • the upper and lower sections of the four stub shafts 16 are all sleeved with large diamond-shaped seated bearings 15, one large diamond-shaped seated bearing 15 is fixed under the upper plate 14, and the other A large diamond-shaped seat bearing 15 is fixed under the lower plate 23; the square head sections of the two square head single-hole double ear seats 4 are inserted into the rectangular grooves of the two indexing swing rods 18 at the front and rear positions, and tightened with screws and washers.
  • the square head sections of the other two square head single-hole double ear seats 4 are inserted into the rectangular grooves of the two crank gears 25 at the left and right positions, and they are also fastened with screws and washers; as shown in Figures 3 and 4, In this way, the incomplete gear 21 is driven by the indexing motor 12, which is transmitted to the crank gear 25, and the crank gear 25 is then transmitted to the indexing pendulum rod 18.
  • the hole binaural seat 4 is reversed at 45 degrees at the same time, from grabbing upright cylinders and cubes, and transposition grabbing horizontally placing cylinders and cuboids.
  • the eccentric indexing structure of the finger rotation center of the present invention shown in FIG. 8 is compared with the in-situ indexing structure of the same finger installation position shown in FIG. 9.
  • the two structures capture vertical cylinders of the same diameter.
  • the eccentric indexing structure grabs a much larger diameter of the horizontally placed cylinder.
  • the flexible shaft part 6 is composed of an elastic flexible shaft part 6a, two knurled internal thread sleeves 6b and two tapered pin indenters 6c.
  • the two ends of the flexible flexible shaft part 6a First, each sleeve is equipped with a knurled internal thread sleeve 6b, and the thread sections of the knurled internal thread sleeve 6b are all at the outer end, and then two tapered pin indenters 6c are respectively press-fitted on both ends of the elastic flexible shaft component 6a.
  • the assembly structure of the translational clamping finger 1a the four parts of the two-hole knuckle 2a, the follower lever 1a2, the finger joint 1a1, and the square-headed two-hole binaural seat 4a constitute parallel Quadrilateral mechanism, the rotation of the two-hole knuckle 2a becomes the translation of the finger knuckle 1a1, and the four translational gripping finger 1a1 of the finger 1a grasps the object; use the double-hole knuckle 2a, square head, double-hole double ear Seat 4a replaced single hole knuckle 2, square head single hole double ear seat 4, double hole knuckle 2a, tapered hole pin 3, square head double hole double ear seat 4a, flexible shaft part 6, copper sleeve
  • the assembly structure of 28 is the same as the assembly structure of single hole knuckle 2, tapered hole pin 3, square head single hole double lug seat 4, flexible shaft part 6, copper sleeve 28; double hole knuckle 2
  • the assembly structure of the knuckle enveloping finger 1b first install the translational gripping finger 1a, and then install the curved plate 1b4 on the side of the translational gripping finger 1a.
  • Parallel, or without the parallel clamping fingers 1a directly install on the single-hole knuckle 2 and rotate with the single-hole knuckle 2; similar to the chain link structure, the lower ring-head L-shaped chain link 1b2 left
  • the upper tip of the side surface is hingedly connected with the lower heel on the left side of the upper ring head L-shaped link 1b2, and the upper tip on the left side of the upper ring head L-shaped link 1b2 is hingedly connected with the flat hinge seat 1b3,
  • the flat hinge seat 1b3 is also fixed on the bent plate 1b4; the ring head of the ring head L-shaped link 1b2 is sleeved in the trough ring of the conical elastic bellows driver 1b1, and the conical elastic bellows driver 1
  • the air pipe joint 1b7 is also screwed on the seat block 1b6, and the compressed air is passed through the air pipe.
  • the joint 1b7 causes the conical elastic bellows driver 1b1 to bend and expand under the constraint of the chain pitch; the left side of the multiple ring-head L-shaped chain links 1b2 contacts the object to be grasped to form an envelope grasp.
  • the structure of the flat hinge base 1b3 is shown in Figs. 14-15, and the structure of the circular ring head L-shaped link 1b2 is shown in Figs. 16-18.
  • the assembly structure of the software-wrapped finger 1c the mounting seat 1c3 has a threaded hole on the left side, first install the translational clamping finger 1a, and then install the finger of the translational clamping finger 1a with screws On the joint 1a1, move with the finger joint 1a1, or without the translational clamping finger 1a, directly install it on the single-hole knuckle 2 and rotate with the single-hole knuckle 2; the inflatable curved finger 1c1 of rubber material touches The wall on one side contains a braided belt 1c2, and the other side is a corrugated structure with a rectangular cross section.
  • the inflatable bending finger 1c1 is sleeved on the corrugated bayonet of the mounting seat 1c3, and then fixed with a clamping hoop 1c4.
  • the hose connector 1c5 is screwed on the right side of the mounting seat 1c3; compressed air enters the inflatable bending finger 1c1 through the hose connector 1c5. And contact the object to be grabbed to form a package grab.
  • the structure diagram of the flexible shaft components is shown in Figure 21, the crank gear components are shown in Figure 22, the incomplete gear components are shown in Figure 23, the tapered drive shaft components are shown in Figure 24, and the long shaft components are shown in Figures 25-26. As shown, the swing rod parts are shown in Figure 27.
  • the initial angle of rotation of the finger root part the tapered pin indenter 6c at one end of the flexible shaft part 6 is inserted into the tapered hole of the tapered hole drive shaft 7.
  • the rotation angle of the four flexible shaft parts 6 is adjusted to ensure four single-hole knuckles 2 Or the initial angles of the two-hole knuckles 2a are equal, and then the knurled female thread sleeve 6b is screwed on the tapered drive shaft 7, so that the drive 11 is rotated to make the four flexible shaft components 6 rotate in the same direction with the initial angle and angular displacement. equal.
  • the initial angle of indexing of the finger root component as shown in Fig. 3-4, when assembling the indexing lever 18, connecting rod 19, crank gear 25, and incomplete gear 21, use an upright cylinder (Fig. 3 double-dot drawing Line) as the assembled cylindrical sample block, ensure that the inner sides of the four square head single-hole double ear seats 4 are close to the cylindrical surface; after the index is 45 degrees, the rectangular parallelepiped (drawing line with double dots in Figure 4) is used as the assembled rectangular parallelepiped sample block , To ensure that the inner sides of the four square-headed single-hole binaural seats 4 are close to the sides of the rectangular parallelepiped-like block.
  • the palm provides finger root indexing function to adapt to shape changes: 1
  • the indexing motor 12 is in the original position, and the four fingers of the palm-changing manipulator grabs vertical cylinders, spheres, cubes, 2or the indexing motor 12 drives the incomplete gear 21 to mesh with the crank gear 25 ,
  • the left and right fingers are rotated clockwise by 45 degrees;
  • the crank gear 25, connecting rod 19, and the indexing swing lever 18 form an inverted crank and rocker mechanism, which makes the front and back fingers rotate counterclockwise by 45 degrees, so that the four fingers can grasp Take a horizontal cylinder or a rectangular parallelepiped; 3 or turn the indexing motor 12 to the middle position to achieve a symmetrical ellipsoid or quadrangular prism.
  • the palm provides finger root rotation or grasping function to adapt to size changes: 1Rotate the motor 11a to drive, make the four knuckles enveloping the fingers 1b, or the soft-wrapped finger 1c to adjust at the same finger root angle; 2Or turn the motor 11a to drive to make The four rotating gripping fingers 1 or the translational gripping fingers 1a grip the object, and the contact force depends on the output torque of the rotating motor 11a; 3 or the vane-type rotating cylinder 11b is driven to make the four rotating gripping fingers 1 or flat
  • the movable gripping finger 1a quickly grips the object, and the contact force is controlled by the input pressure of the vane-type rotating cylinder 11b.
  • the contact state of the palm-changing manipulator For spheres and horizontally placed cylinders, the rotating gripping finger 1 is used, and the height of the palm-changing manipulator has high control accuracy; the translational gripping finger 1a is used, and the height of the palm-changing manipulator has no precision requirements; the knuckle bag is used
  • the contact state is affected by the height of the palm-changing manipulator and the rotation angle of the base of the finger, but the control accuracy of the height of the manipulator changing the palm and the rotation angle of the base of the finger is low.

Abstract

L'invention concerne un manipulateur de commutation de paume apte à changer de doigt rapide et comprenant un arbre flexible de base de doigt pour une transmission de rotation et une transposition excentrique, constitué d'une partie de paume et de quatre doigts présentant la même structure. La paume fournit la fonction de transposition de partie de base de doigt. Les quatre doigts sont aptes à saisir un cylindre vertical, un sphéroïde ou un cube, ou sont aptes à saisir un cylindre horizontal ou un cuboïde lorsqu'il est alimenté par un moteur de transposition (12), le doigt gauche et le doigt droit sont transposés dans le sens des aiguilles d'une montre de 45 degrés et le doigt avant et le doigt arrière sont transposés dans le sens inverse des aiguilles d'une montre de 45 degrés. La paume fournit la fonction de rotation de la partie de base du doigt. Le dispositif d'entraînement en rotation (11) présente deux formes, un moteur de rotation (11a) ou un cylindre rotatif de type à aube (11b), et entraîne une courroie dentée (26) et fait tourner, au moyen de quatre arbres flexibles (6), les quatre doigts par le même angle de base de doigt, l'angle de base de doigt faisant référence à l'angle compris entre la partie de base de doigt et la surface de paume. Il existe quatre types de doigts, comprenant : des doigts de serrage rotatifs sans dispositif d'entraînement (1), des doigts de serrage de translation (1a), des doigts enveloppants ayant des jointures de doigt pneumatiques (1b) et des doigts d'enveloppement souples (1c).
PCT/CN2021/083917 2020-04-03 2021-03-30 Manipulateur de commutation de paume apte à changer de doigt rapide et comprenant un arbre flexible de base de doigt pour une transmission de rotation et une transposition excentrique WO2021197319A1 (fr)

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CN114654485A (zh) * 2022-03-30 2022-06-24 李俊标 一种机械手间距可调的机械手装置
CN115781747A (zh) * 2022-12-06 2023-03-14 山东大学 一种曝气管装拆机械手
CN116787477A (zh) * 2023-08-29 2023-09-22 山东荣升重型机械股份有限公司 一种环形工件的抓取装置及抓取方法
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CN112123358B (zh) * 2020-09-23 2021-11-26 江南大学 可勾取和捏取的四指向心运动并联机构手掌机械手
CN113146667B (zh) * 2021-04-29 2022-07-15 江南大学 单或双指节接触柔性机械手及其抓持方法
CN114476699B (zh) * 2022-03-21 2023-12-05 贵州航天电器股份有限公司 一种粉末供料盘装置

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CN115781747A (zh) * 2022-12-06 2023-03-14 山东大学 一种曝气管装拆机械手
CN116787477A (zh) * 2023-08-29 2023-09-22 山东荣升重型机械股份有限公司 一种环形工件的抓取装置及抓取方法
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CN117140571B (zh) * 2023-11-01 2024-02-06 哈尔滨学院 一种工业机器人夹头及机器人

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